Development of Ship Maneuvering Control System

Abstract

In the dynamic positioning control and thrust allocation system of the vessels, it is difficult to obtain an optimal solution in real time because of inherent non-linearity, and development of a reliable real-time calculation method for the optimal control has been waited for. The control system we have developed realizes a real-time optimal control. This paper presents examples of application of the real-time nonlinear RH control for route-tracking and real-time algorithm for optimal thrust allocation for redundant actuator. The effectiveness of the method applied to the systems is verified by computer simulation and experimental study conducted at a model test basin.